{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "file = \"Qlearning-10-goals\"\n",
    "plt.plot(np.loadtxt(file+\".csv\",delimiter=\",\",skiprows=1)[:,2])\n",
    "plt.savefig(file + \".png\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "file = \"Qlearning-500-goals\"\n",
    "plt.plot(np.loadtxt(file+\".csv\",delimiter=\",\",skiprows=1)[:,2])\n",
    "plt.savefig(file + \".png\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "---"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "file = \"sarsa-10-goals\"\n",
    "plt.plot(np.loadtxt(file+\".csv\",delimiter=\",\",skiprows=1)[:,2])\n",
    "plt.savefig(file + \".png\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "file = \"sarsa-500-goals\"\n",
    "plt.plot(np.loadtxt(file+\".csv\",delimiter=\",\",skiprows=1)[:,2])\n",
    "plt.savefig(file + \".png\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.5.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
